CanOpen protocol
Positioning module UVE8112, IMD10
Example 1:
l position (ob
64
h
). A
on
9000
DFA0
h
is sent
Que
back.
ry of t
he actua
ject 60
s a resp
se, the value 16
00
d
= 0101
0x40
Data
Addres
CS
s
0x64
0x60
0x00
0x00
0x00
0x00
0x00
0x43
0x64
0x60
0x00
0xA0
0xDF
0x01
0x01
Server
Cl
a
le
t
co
0
lu
1F
h
.
ient
Ex mp
2:
Se the
ntrol word (object 6 40
h
) to the va e: 00
0x22
Data
Ad
CS
dress
0x40
0x60
0x00
0x1F
0x00
0x00
0x00
0x60
0x40
0x60
0x00
0x00
0x00
0x00
0x00
Server
Cl
PD
Data Object (PDO) is a Can message with a defined identifier containing one or several
ents possible) knows the arrangement
ct directory. The
e
a PDO (1-8 bytes) depends on
Mapping
A CanOpen device can dispose of several Receiv PDOs and Transmit PDOs. The Mapping for the
the next R_PDOs in the objects 1601h, 1602h, etc.,
parameters as of Index 1A00h are given in the object directory.
default arran
t of the
s in the Receive PDO2 of the drive module is
illustrated. The mapping can be changed or extended at all times. For all PDOs of the module, it is
s
to
Byte 0
ient
O
A Process
objects with address information. The recipient (several recipi
of the objects in this Can frame due to the Mapping table for this PDO in its obje
table is either preset firmly or written before the sending of the PDOs.
Th receipt of a PDO is not confirmed by the recipients. The length of
the number and length of the contained objects.
e
first R_PDO is contained in the object 1600h; for
the T_PDO mapping
In the figure, the
gemen
object
po sible
map up to 4 objects.
Objekt X
Objekt X
Byte 1
Object2
Byte 0
0x300 +
Node ID
PDO Producer
Data
R_PDO2 with default settings
PDO Consumer
Object1
Byte 0
Object1
Modes of
Operation
Object1
Control word
Byte 1
Object2
R_P
M
1
2
3
4
0x 6040 00 10 Object1
.....
DO2
apping
2
0
0x
0x
606
000
0x 000
0 00 08 Object2
0 00 00 not used
0 00 00 not used
Index
Sub-
index
Length
In bit
72
Содержание IMD1
Страница 1: ...DC servo positioning module with CanOpen interface UVE8112 IMD10 www isel com ...
Страница 66: ...DcSetup programme Positioning module UVE8112 IMD10 66 ...
Страница 113: ...Positioning module UVE8112 IMD10 Appendix 113 Appendix UVE8112 package dimensions ...
Страница 114: ...Appendix Positioning module UVE8112 IMD10 114 IMD10 package dimensions ...